Point Cloud Soup Recorder

Reconstruct high-resolution point clouds from Hammerhead's PointCloudSoup messages, and record as PLY files.

Build

mkdir build
cd build
cmake ..
cmake --build . --config Release

Usage

# Linux
./point_cloud_soup_recorder [hammerhead_ip] [output_directory]

# Windows
./Release/point_cloud_soup_recorder.exe [hammerhead_ip] [output_directory]

Parameters

  • hammerhead_ip: IP address of the device running Hammerhead (default: 127.0.0.1)
  • output_directory: Directory to save PLY files (default: point_clouds folder)

Examples

# Record point clouds from local device (default)
./point_cloud_soup_recorder

# Record point clouds from local device with custom output directory
./point_cloud_soup_recorder 127.0.0.1 /tmp/ply_output

# Record point clouds from remote device with custom output directory
./point_cloud_soup_recorder 10.10.1.10 /tmp/ply_output

Output

  • Format: PLY files (.ply)
  • Location: point_clouds folder
  • Naming: Sequential numbering based on received messages

Features

  • High-performance C++ implementation for optimal processing speed
  • Subscribe to PointCloudSoup messages from Hammerhead
  • Reconstruct full point clouds from compact soup representation
  • Generate PLY files compatible with CloudCompare and other tools
  • Handle high-resolution point clouds efficiently with minimal memory usage

PointCloudSoup Format

Nodar generates extremely high-resolution point clouds that require efficient network transmission. The PointCloudSoup format:

  • Provides a compact representation of point cloud data
  • Allows reconstruction of full point clouds on client machines
  • Reduces network bandwidth requirements significantly
  • Maintains high fidelity of 3D spatial information

The point_cloud_soup.hpp header provides the class and functions for reading and writing PointCloudSoup data.

Troubleshooting

  • No point clouds generated: Check IP address and ensure Hammerhead is running
  • Connection hanging: ZMQ will wait indefinitely for connection - verify network connectivity
  • Large file sizes: Point clouds are high resolution - ensure adequate storage space

Press Ctrl+C to stop recording.